Merge pull request #444 from MaslowCNC/make-it-possible-to-measure-ei…

…ther-chain Make it possible to measure either chain
MaslowCNC · May 5, 2018 · abe3b0e · abe3b0e
2 parents 0bc78a3 + 5beedf6
commit abe3b0e
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Showing 4 changed files with 18 additions and 24 deletions.
diff --git a/cnc_ctrl_v1/GCode.cpp b/cnc_ctrl_v1/GCode.cpp
@@ -232,7 +232,12 @@ byte  executeBcodeLine(const String& gcodeLine){
     if(gcodeLine.substring(0, 3) == "B10"){
         //measure the left axis chain length
         Serial.print(F("[Measure: "));
-        Serial.print(leftAxis.read());
+        if (gcodeLine.indexOf('L') != -1){
+            Serial.print(leftAxis.read());
+        }
+        else{
+            Serial.print(rightAxis.read());
+        }
         Serial.println(F("]"));
         return STATUS_OK;
     }
@@ -247,15 +252,17 @@ byte  executeBcodeLine(const String& gcodeLine){
 
         int i = 0;
         while (millis() - begin < ms){
-            leftAxis.motorGearboxEncoder.motor.directWrite(speed);
-            if (i % 10000 == 0){
-                Serial.println(F("pulling"));                              //Keep the connection from timing out
+            if (gcodeLine.indexOf('L') != -1){
+                leftAxis.motorGearboxEncoder.motor.directWrite(speed);
             }
+            else{
+                rightAxis.motorGearboxEncoder.motor.directWrite(speed);
+            }
+
             i++;
             execSystemRealtime();
             if (sys.stop){return STATUS_OK;}
         }
-        leftAxis.set(leftAxis.read());
         return STATUS_OK;
     }
 

diff --git a/cnc_ctrl_v1/Motor.cpp b/cnc_ctrl_v1/Motor.cpp
@@ -78,11 +78,11 @@ void Motor::additiveWrite(int speed){
     write(_lastSpeed + speed);
 }
 
-void Motor::write(int speed){
+void Motor::write(int speed, bool force){
     /*
-    Sets motor speed from input. Speed = 0 is stopped, -255 is full reverse, 255 is full ahead.
+    Sets motor speed from input. Speed = 0 is stopped, -255 is full reverse, 255 is full ahead. If force is true the motor attached state will be ignored
     */
-    if (_attachedState == 1){
+    if (_attachedState == 1 or force){
         speed = constrain(speed, -255, 255);
         _lastSpeed = speed; //saves speed for use in additive write
         bool forward = (speed > 0);
@@ -134,21 +134,7 @@ void Motor::directWrite(int voltage){
     /*
     Write directly to the motor, ignoring if the axis is attached or any applied calibration.
     */
-    bool forward = (voltage >= 0);
-    if (forward) {
-        if (voltage > 0) {
-          digitalWrite(_pin1 , HIGH );
-          analogWrite(_pin2 , 255 - abs(voltage)); // invert drive signals - don't alter speed
-        } else {
-          digitalWrite(_pin1 , LOW );
-          digitalWrite(_pin2 , LOW );
-        }
-    }
-    else{
-        analogWrite(_pin1 , 255 - abs(voltage)); // invert drive signals - don't alter speed
-        digitalWrite(_pin2 , HIGH );
-    }
-    digitalWrite(_pwmPin, HIGH);
+    write(voltage, true);
 }
 
 int  Motor::attached(){

diff --git a/cnc_ctrl_v1/Motor.h b/cnc_ctrl_v1/Motor.h
@@ -35,7 +35,7 @@
             void attach();
             int  setupMotor(const int& pwmPin, const int& pin1, const int& pin2);
             void detach();
-            void write(int speed);
+            void write(int speed, bool force = false);
             int  lastSpeed();
             void additiveWrite(int speed);
             int  attached();

diff --git a/cnc_ctrl_v1/Settings.cpp b/cnc_ctrl_v1/Settings.cpp
@@ -382,6 +382,7 @@ byte settingsStoreGlobalSetting(const byte& parameter,const float& value){
               sysSettings.chainSagCorrection = value;
               break;
         case 38:
+              settingsSaveStepstoEEprom();
               sysSettings.chainOverSprocket = value;
               setupAxes();
               settingsLoadStepsFromEEprom();